Articulating basket with simultaneous basket extension or basket retraction

ABSTRACT

A retrieval device is provided for retrieving stones, calculi, and other objects from a body. The device allows for a retrieval basket to be articulated and extended simultaneously. The device also allows for the basket to be articulated and retracted simultaneously.

RELATED APPLICATIONS

The present patent document claims the benefit of priority and the filing date under 35 U.S.C. §119(e) of Provisional U.S. Patent Application Ser. No. 60/732,929, filed Nov. 3, 2005, which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

This invention relates to medical retrieval devices used in minimally invasive surgery, particularly those used to retrieve stones and calculi from a patient.

BACKGROUND OF THE INVENTION

Stone retrieval devices are often employed in order to remove a stone from a ureter or kidney. Removal of a stone from a ureter or kidney is a difficult process because the area within which the medical professional works is small and narrow. Often a stone is not located directly in front of the retrieval basket. The location of the stone makes it difficult to retrieve. In an attempt to retrieve the object, the medical professional will attempt to bend the basket, causing the basket to bend-over partially onto itself. This movement will allow one side of the basket to expand and be more open than the opposite side. When the basket is at least partially bent-over on itself, the medical professional will attempt to maneuver the basket so that it encapsulates the object. However, the basket cannot be extended or retracted while bent. Thus, stones that are not directly in front of the device cannot be easily captured.

The medical professional has little control of the basket because the basket cannot be bent while being extended or retracted. Thus, during the interim period between when the basket surrounds the stone and when the basket is retracted, the stone can shift, move, or dislodge, making the capture attempt a failure, causing the medical professional to start the procedure over.

BRIEF SUMMARY OF THE INVENTION

A medical device is provided. The device includes a body, an articulator movably connected to the body, and at least a first and a second wire having distal ends. The first and second wire is in communication with the articulator. The device further includes a tool disposed at the distal end of the first and second wire, wherein the articulator is capable of moving the tool outside the longitudinal plane, and wherein the tool is capable of being extended and retracted in a longitudinal plane simultaneously with movement outside the longitudinal plane.

Further, a medical device is provided. The device includes a body, a slide assembly slideably attached to the body, and an articulator rotatably attached to the body. The articulator is in communication with the slide assembly. The device further includes a first wire and a second wire having distal ends, wherein the first wire and the second wire are attached to the articulator. The device further includes a tool disposed at the distal ends of the first and second wires, wherein the articulator is configured to move the tool outside a longitudinal plane, and wherein the slide assembly is configured to extend and retract the first and second wires.

Further, a medical device is provided. The device includes a tool formed by at least one wire. The device further includes means for extending or retracting the tool and simultaneously articulating the tool in a plane outside a longitudinal plane.

Further, a method for retrieving an object is provided. The method includes inserting a device for removing an object into a patient, extending a tool of the device out to the object, and articulating the tool to encapsulate the object. The method further includes retracting the tool to retrieve the object, wherein the extending and the articulating are capable of being performed simultaneously or the articulating and the retracting are capable of being performed simultaneously.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The embodiments will be further described in connection with the attached drawing figures. It is intended that the drawings included as a part of this specification be illustrative of the embodiments and should in no way be considered as a limitation on the scope of the invention.

FIGS. 1A, 1B-1C show partial cross-sectional views of an embodiment of the device;

FIG. 1D shows a partial plan view of an embodiment of the device;

FIG. 1E shows a partial cross-sectional view of an embodiment of the device;

FIG. 2 is an isometric view of the an embodiment of the device;

FIG. 3 is an isometric view of an embodiment of the device;

FIGS. 4, and 4A show partial cross-sectional views of the proximal portion of embodiments of the device;

FIGS. 5 and 5A-5C show partial cross-sectional views of the proximal portion of embodiments of the device;

FIGS. 6, and 6A show partial cross-sectional views of the proximal portion of embodiments of the device;

FIGS. 7A-7E are isometric views of pivot pins of embodiments of the device;

FIGS. 8A-8B are isometric views of the proximal portion of embodiments of the device;

FIGS. 9A-9C are isometric views of grasping wire restraint disks of embodiments of the device;

FIG. 10 is an isometric view of a sheath of an embodiment of the device;

FIG. 10A is a cross-sectional view of FIG. 10 at line 10A;

FIG. 10B-10C are isometric views of a sheath of embodiments of the device;

FIG. 11 is a close-up view of the distal portion of an embodiment of the device;

FIG. 12 is a close-up view of the distal portion of an embodiment of the device;

FIG. 13 is a close-up view of the distal portion of an embodiment of the device;

FIG. 14A is a perspective view of the distal portion of an embodiment of the device;

FIGS. 14B-14D are frontal views of the distal portion of embodiments of the device; and

FIGS. 15-18 depict another embodiment of the device.

DETAILED DESCRIPTION OF PRESENTLY PREFERRED EMBODIMENTS

The device provides a way to simultaneously articulate and extend a retrieval basket and also to simultaneously articulate and retract the basket for retrieving stones, calculi, and other objects from a patient. The use of the device is not limited to use in human patients; the device has veterinary and non-medical uses including but not limited to retrieving objects from any hard-to-reach area. A more detailed description of the embodiments will now be given with reference to FIGS. 1-18. The present invention is not limited to those embodiments illustrated; it specifically contemplates other embodiments not illustrated but intended to be included in the claims.

FIGS. 1A, 1B, 1C, and 1D depict partial cross-sectional views of an embodiment of the device. Retrieval device 10 has a proximal portion 10 a and a distal portion 10 b. FIGS. 1B and 1C are cross-sectionals of proximal portion 10 a of retrieval device 10 shown in FIG. 1A. FIG. 1C is a perspective view of proximal portion 10 a of retrieval device 10 shown in FIG. 1A. Located at distal portion are two grasping wires 11 a and 11 b that travel through a lumen 15 a extending through the sheath 15. Although two grasping wires are depicted, it is contemplated that a greater or lesser amount of grasping wires can be used. Furthermore, it is contemplated that one continuous wire could also be used.

The use of the word “wire” is not intended to be limiting. Throughout the disclosure, grasping wires may be made from stainless steel but are preferably made from a shape memory alloy, including but not limited to Nitinol. Nitinol is available from Memory Corp of Bethel, Conn. and from other suppliers. Grasping wires can also be made from other semi-flexible materials, including but not limited to nylon, plastic, as well as a shape memory polymer. Shape memory polymers are disclosed in U.S. Pat. No. 6,720,402 which is hereby incorporated by reference in its entirety. Grasping wires may also include, but are not limited to, filaments or threads. Grasping wires preferably have a diameter of 0.005-0.009 inches; however, the diameter of grasping wires is not limited to those dimensions. Grasping wires may be larger or smaller depending on the need. Grasping wires are preferably round or flat, however other shapes can be used, such as the near-triangular pre-shaped Delta Wire available from Cook Urological, Spencer, Ind.

At distal portion 10 b of retrieval device 10 is a grasping wire connection point 18, which is preferably atraumatic and is used to connect grasping wires 11 a, 11 b so that they come together in the shape of a basket to keep grasping wires 11 a, 11 b constrained together. Grasping wires 11 a, 11 b may be looped together as shown here to form grasping wire connection point 18, but the connection of grasping wires 11 a, 11 b is not limited to just a loop. Looping of wires is disclosed in U.S. Pat. No. 5,989,266 which is hereby incorporated by reference in its entirety.

Grasping wire restraint disk 16 is located within sheath 15 and can be held in place by ways including but not limited to, gluing, soldering, or sewing into place. Grasping wire restraint disk 16 is used to keep grasping wires 11 a, 11 b separated once they enter sheath 15. Grasping wire restraint disk 16 can be made from any medically-acceptable material, including but not limited to, polycarbonate, stainless steel, nylon, other metals, and plastics.

Sheath 15 protects grasping wires 11 a, 11 b from becoming tangled and controls their interaction with the patient. Sheath 15 is preferably made from PVC, but can also be made from materials including, but not limited to, polytetrafluoroethylene (PTFE), polyimide, nylon, polyurethane, polyethylene, or any polymer or semi-flexible metal. Sheath 15 preferably has an outer diameter of 1.5-4.5 Fr., although other sizes can be used and the size should be suitable for insertion through an orifice. The outer diameter of sheath 15 is generally based on the size of the orifice through which it will be introduced.

The articulator 13 houses pivot pins 14 a, 14 b, and 14 c which can be made from many materials, including but not limited to, stainless steel, medically-acceptable polymers, and metals. Articulator 13 can be made from many materials, including but not limited to, rigid nylon, stainless steel, acrylonitrile-butadiene-styrene (ABS) and other medically acceptable polymers and metals. Sheath connection point 17 d of body 17 is threaded so that sheath 15 can connect to body 17. Wires 11 a, 11 b travel through sheath connection point 17 d, into body 17, through lumen 17 b of body 17, and out through windows 17 c into articulator 13. Pivot pin 14 c travels through articulator 13 and through body 17. Pivot pin 14 c allows articulator 13 to have tilting see-saw movement on either side of transverse axis X-X articulating basket B. Although a basket is depicted, the use of other tools is contemplated including other grasping and sampling devices. Additionally, the wires need not be continuous with the tool, nor do the wires and the tool need to be made from the same material. Pivot pins 14 a, 14 b, and 14 c are configured in a triangle-shape.

First grasping wire 11 a is shown pulled through lumen 15 a of sheath 15, into sheath connection point 17 d, into lumen 17 b of body 17, out through windows 17 c and around pivot pin 14 c where it is attached to pivot pins 14 a and 14 b. Second grasping wire 11 b is attached directly to third pivot pin 14 c.

The configuration of pivot pins 14 a, 14 b, 14 c allows the user to articulate basket B from side-to-side, making basket B tilt on its side along transverse axis X-X enabling basket B to grasp an object that may not be directly in-line with basket B. Therefore, articulating basket B allows for basket B to move in a plane in addition outside the longitudinal access.

Furthermore, articulator 13 can move longitudinally along axis Y-Y of body 17 which in turn retracts or extends basket B. Thus, articulator 13 translates relative to body 17; body 17 is stationary with respect to articulator 13 when a thumb (not shown) or other stationary object (not shown) is placed within thumb hole 17 a. Two springs 17 f sit within body 17 and are in communication with articulator 13 and body 17. Springs are made from stainless steel, although they can be made from any other material so long as they generate an acceptable force to push articulator 13 distally in order to extend basket B. Springs 17 f provided resistance against pivot pin 14 c which is attached to articulator 13. Thus, when fingers (not shown) apply pressure into either finger groove 12 a, 12 b and articulator 13 is pulled in the proximal direction, springs 17 f are compressed and basket B is retracted. When compression is released from finger groove 12 a, 12 b, springs 17 f are also released and will push articulator 13 in the distal direction, thus extending basket B.

To articulate basket B, the user tilts articulator 13 on either side of transverse axis X-X by pressing a finger (not shown) down into one of the finger grooves 12 a, 12 b. Tilting articulator 13 in the direction of finger groove 12 a will articulate basket B in the direction of finger groove 12 a. Similarly, tilting articulator 13 in the direction of finger groove 12 b will articulate basket B in the direction of finger groove 12 b.

While basket B is being articulated, the user can retract basket B by placing a thumb or finger (not shown) in the thumb-hole 17 a and using fingers (not shown) placed in finger grooves 12 a, 12 b to pull articulator 13 proximally along longitudinal axis Y-Y compressing springs 17 f. This moves the entire articulator 13 proximally, and thus, moves pivots pins 14 a, 14 b, and 14 c proximally as well. The proximal movement pulls the respective grasping wires 11 a, 11 b proximally and retracts basket B. While retracting basket B, the user can articulate basket B by tilting articulator 13 on either side of transverse axis X-X by placing pressure into either finger groove 12 a, 12 b.

Furthermore, while basket B is being articulated, the user can also extend basket B by releasing the compression on finger grooves 12 a, 12 b, which releases springs 17 f so that they push articulator 13 in the distal direction along longitudinal axis Y-Y. This moves the entire articulator 13 distally, and thus, moves pivots pins 14 a, 14 b, and 14 c distally as well. The distal movement pushes the respective grasping wires 11 a, 11 b distally and extends basket B. While extending basket B, the user can articulate basket B by tilting articulator 13 on either side of transverse axis X-X by placing pressure into either finger groove 12 a, 12 b.

FIG. 1E shows a different embodiment from that shown in FIG. 1A. The embodiment shown in FIG. 1E needs no springs since finger holes 12 c, 12 d are provided. Thus, when a user places fingers (not shown) within finger holes 12 c, 12 d, the user is able to move articulator 13 in the distal direction along longitudinal axis Y-Y without the aid of a spring. Further embodiments are shown in FIGS. 2-14D.

FIG. 2 is an isometric view of an embodiment of the device. Sheath 25 is connected to body 27 at threaded sheath connection point 27 d of retrieval device 20. Basket B enters sheath 25 through grasping wire restraint disk 26. Articulator 23 is shown pushed in the distal direction along longitudinal axis Y-Y and tilted to the right-side of transverse axis X-X. Articulator 23 is moveable along axis Y-Y in the direction of the proximal portion 20 a or distal portion 20 b of retrieval device 20 when a user pulls or releases articulator 23, which results in springs 27 f being compressed or released resulting in basket B being retracted or extended.

Retrieval device 20 is introduced into a ureter U through a functional lumen of an endoscope (not shown), or an access sheath, or other device. After introduction into the patient, retrieval device 20 is advanced to stone S. Here stone S is shown abutted to ledge L of ureter U, and thus, is not directly in front of basket B. When articulator 23 is pulled proximally, springs 27 f are compressed and basket B retracts. As articulator 23 is released, springs 27 f are released causing articulator 23 to move distally along axis Y-Y, as shown, basket B extends. A first finger F1 is located in a first finger groove 22 a, a second finger F2 is located in a second finger groove 22 b, and a thumb T is located in thumb hole 27 a. While extending basket B, second finger F2 is pressing and tilting articulator 23 so that articulator 23 tilts along axis X-X, via pivot pin 27 c. This causes basket B to articulate while simultaneously moving articulator 23 distally along longitudinal axis Y-Y to extend basket B out to stone S to surround stone S. Here, basket B is shown extended and articulated after having just captured stone S.

FIG. 3 is an isometric view of another embodiment of the device. Here, the basket B of the retrieval device 30 is shown extended and articulated, having captured a stone S abutting a ledge L within a ureter U. The sheath 35 is connected to body 37 at sheath connection point 37 d. Basket B enters sheath 35 through grasping wire restraint disk 36. Articulator 33 surrounds body 37. Articulator 33 has longitudinal movement along longitudinal axis Y-Y. Furthermore, articulator 33 has tilting see-saw movement along either side of transverse axis X-X due to the pivot pin 34 c that extends from articulator 33 through body 37. Articulator 33 moves in the direction of the proximal portion 30 a and distal portion 30 b of the retrieval device 30 when a user pulls and releases, respectively, articulator 33. Thus, body 37 remains stationary with respect to articulator 33 when a thumb T is placed within the thumb-hole 37 a. When articulator 33 is released springs 37 f are released causing articulator 33 to move in the distal direction (not shown), which causes basket B to extend. As articulator 33 is pulled proximally along axis Y-Y, as shown, springs 37 f are compressed and basket B retracts. While retracting basket B, a first finger F1 is located in a first finger groove 32 a and a second finger F2 is located in a second finger groove 32 b. First finger F1 is pressing and tilting articulator 33 so that articulator 33 tilts along transverse axis X-X causing basket B to articulate. Since basket B is articulated and retracted simultaneously, it can be manipulated in a sweeping motion to capture stone S.

FIGS. 4, 4A, 5, 5A, 5B, 5C, 6, and 6A each show partial cross-sectional views of the proximal portion of embodiments of the device. The figures each show different configurations of the pivot pins housed within the articulator, 43, 53, 63. In FIG. 4 the retrieval device 40 has articulator 43 that houses pivot pins 44 a, 44 b, 44 c. Each grasping wire 41 a, 41 b enter lumen 47 b of body 47 at the sheath connection point 47 d. From there, grasping wires 41 a, 41 b travel through lumen 47 b of body 47 and out through windows 47 c of body 47 into articulator 43. Each grasping wire 41 a, 41 b loops around pins 44 a, 44 b. Pivot pin 44 c travels through articulator 43 and into body 47 to allow for tilting see-saw movement of articulator 43 which in turn articulates the basket (not shown). Furthermore, articulator 43 is movably connected to body 47 to allow for longitudinal movement which extends and retracts grasping wires 41 a and 41 b attached to pivot pins 44 a, 44 b. Springs 47 f are compressed when articulator 43 is pulled in the proximal direction via finger grooves 42 a, 42 b and thumb hole 47 a which retracts the basket (not shown). When springs 47 f are released they push articulator 43 in the distal direction which extends the basket (not shown).

FIG. 4A is the same as FIG. 4, except that no springs are needed since articulator 43 has finger loops 42 c, 42 d that allow a user to push and pull articulator along longitudinal axis of body 47 in order to extend and retract the basket (not shown).

FIG. 5 shows another pivot pin —54 a, 54 b, 54 c—configuration housed within articulator 53 of retrieval device 50. Here, grasping wires 51 a, 51 b each travel through lumen 57 b of body 57 at sheath connection point 57 d, out through windows 57 c, and into articulator 53. Each end of grasping wires 51 a, 51 b are each attached to a pivot pin 54 a, 54 b, located on either side of articulator 53. Pivot pin 54 c travels through articulator 53 and into body 57 to allow for tilting see-saw movement which in turn articulates basket (not shown). Furthermore, articulator 53 is movably connected to body 57 to allow for longitudinal movement which extends and retracts grasping wires 51 a and 51 b attached to pivot pins 54 a, 54 b. The greater the distance, the less tilting see-saw movement of articulator 53 is required to articulate the basket (not shown). Springs 57 f are compressed when articulator 53 is pulled in the proximal direction using finger grooves 52 a, 52 b, and thumb hole 57 a which retracts the basket (not shown). When springs 57 f are released they push articulator 53 in the distal direction which extends the basket (not shown).

FIG. 5A is the same as FIG. 5, except that no springs are needed since articulator 53 has finger loops 52 c, 52 d that allow a user to push and pull articulator along the longitudinal axis of body 57 in order to extend and retract the basket (not shown).

FIG. 5B is the same as FIG. 5 except grasping wires 51 a and 51 b are in a different configuration. Here, each grasping wire 51 a, 51 b first goes around pin 54 c before connecting to pivot pins 54 a, 54 b.

FIG. 5C is the same as FIG. 5B, except that no springs are needed since articulator 53 has finger loops 52 c, 52 d that allow a user to push and pull articulator directly along a longitudinal axis of body 57 in order to extend and retract the basket (not shown).

FIG. 6 shows yet another pivot pin configuration —64 a, 64 b, 64 c, 64 d, 64 e—housed within articulator 63 of retrieval device 60. Grasping wires 61 a, and 61 b enter body 67 at sheath connection point 67 d and travel through lumen 67 b of body 67. Grasping wires 61 a and 61 b then both loop around fourth pivot pin 64 d, exit through window 67 c, and are attached to first pivot pin 64 a. Grasping wires 61 a and 61 b also both loop around third pivot pin 64 c, exit through window 67 c, and then are attached to second pivot pin 64 d. Pivot point 64 e allows for the articulator 63 to have tilting see-saw movement to allow the basket (not shown) to be articulated. Articulator 63 to move longitudinally proximally and distally along longitudinal axis of body 67. This configuration allows for both pushing and pulling of the basket (not shown). Springs 67 f are compressed when articulator 63 is pulled in the proximal direction using finger grooves 62 a, 62 b, and thumb hold 67 a which retracts the basket (not shown). When springs 67 f are released they push articulator 63 in the distal direction which extends the basket (not shown).

FIG. 6A is the same as FIG. 6, except that no springs are needed since articulator 63 has finger loops 62 c, 62 d that allow a user to push and pull articulator along longitudinal axis of body 67 in order to extend and retract the basket (not shown).

FIGS. 7A-7E are isometric views of pivot pins of embodiments of the device. In FIG. 7A, pivot pin 74 a is a nail-shaped pin having a head H that has a greater diameter than the body. This prevents grasping wire 71 from slipping off of pivot pin 74 a when the basket (not shown) is articulated, extended, and/or retracted.

FIG. 7B shows an alternate embodiment of pivot pin 74 b having an eye E in which grasping wire 71 is threaded through to prevent it from becoming detached from pivot pin 74 b when the basket (not shown) is articulated, extended, and/or retracted.

FIG. 7C shows a pivot pin 74 c with an arch shape through which grasping wire 71 is threaded to prevent grasping wire 71 from becoming detached from pivot pin 74 c when the basket (not shown) is articulated, extended, and/or retracted.

FIG. 7D shows a pivot pin 74 d having a “j” shape, an angular bend AB, and a head H that has a larger diameter than the body. Pivot pin 74 d keeps grasping wire 71 in place when the basket (not shown) is articulated, extended, and/or retracted.

FIG. 7E shows a pivot pin 74 e with grasping wire 71 attached to pivot pin 74 e by way of soldering.

FIGS. 8A and 8B are isometric views of the proximal portion of embodiments of the device. In FIG. 8A the articulator 83 of retrieval device 80 has ergonomically-shaped finger grooves 82 a, 82 b and thumb-hole 87 a. The shape provides a comfortable fit for fingers F1, F2 and thumb T. Grasping wires 81 a, 81 b enter body 87 at sheath connection point 87 d, travel though lumen 87 b, and connect to pivot pins (now shown). Pivot pin 87 c allows articulator 83 to have tilting see-saw movement in order to allow for the basket (not shown) to articulate. Basket (not shown) retraction occurs by moving articulator 83 proximally along longitudinal axis of body 87 which compresses springs 87 f. Basket (not shown) extension occurs by releasing articulator 83 which decompresses springs 87 f causing articulator 83 to move along body 87.

FIG. 8B shows an alternate configuration of articulator 83 of retrieval device 80. Here, articulator 83 has ergonomically-shaped finger holes 82 c, 82 d for fingers F1, F2. No springs are needed in this embodiment since finger holes 82 c, 83 d allow the user to pull and push articulator 83 directly thus enabling basket (now shown) retraction and extension.

FIGS. 9A-9C are isometric views of grasping wire restraint disks. In FIG. 9A the grasping wire restraint disk 96 is shown having four guide holes 96 a for wires in the shape of a cross. Each grasping wire (not shown) is threaded through a single lumen 96 a of grasping wire restraint disk 96.

FIG. 9B shows a grasping wire restraint disk 96 wherein four lumens are created with circular-shaped openings 96 b cut into grasping wire restraint disk 96 creating four guide holes. Each of grasping wires (not shown) are threaded through a single lumen 96 b of grasping wire restraint disk 96.

FIG. 9c shows a grasping wire restraint disk 96 wherein grasping wires (not shown) are treaded through a single lumen 96 c.

FIG. 10 is an isometric view of an optional sheath for the retrieval device. Here, instead of maintaining grasping wire (not shown) separation by using a grasping wire restraint disk (not shown) the sheath 105 itself has four semi-circular lumens 105 a. A cross section of sheath 105 at line-10A is depicted in FIG. 10A. Each grasping wire (not shown) are threaded through a lumen 105 a of sheath 105 so that the grasping wires (not shown) do not become tangled and stay separated as they travel through sheath 105. FIG. 10B depicts an alternate configuration of circular-grasping wire lumens 105 b built into sheath 105. FIG. 10C depicts an alternate configuration of a single circular grasping wire lumen 105 c built into sheath 105.

FIG. 11 is a close-up view of the distal portion 110 b of an embodiment of retrieval device 110. Here, grasping wires 111 a, 111 b are connected at grasping wire connection point 118 via a soldered point in order to form the top of basket B.

FIG. 12 is a view of the distal portion 120 b of retrieval device 120. Here, grasping wires 121 a, 121 b, are connected at grasping wire connection point 128 via a grasping wire connection disk 128 a in order to form the top of basket B. Grasping wire connection disk 128 a can be made from many materials including polycarbonates, stainless steel, nylon, and polymers. Grasping wire connection disk 128 a contains four holes 128 b through which grasping wires 121 a, 121 b are threaded.

FIG. 13 is a view of the distal portion 130 b of retrieval device 130. Here, grasping wires 131 a, 131 b are connected at grasping wire connection point 138 via a loop-in-loop configuration in order to form the top of basket B.

FIG. 14A is a perspective view of the distal portion of retrieval device 140. Each grasping wire 141 a, 141 b is connected at a soldered grasping wire connection point 148 and then threaded into sheath 145. The net configuration of grasping wires 141 a, 141 b may enable better retrieval of smaller stones or calculi that could slip between the wires if there were no net.

FIGS. 14B-14D are frontal views of retrieval device embodiments 140, 180, 190. Each show grasping wire 141 a, 141 b connected at a soldered grasping wire connection point 148. Each figure depicts a different net-configuration of wire fibers 141 c, 141 d, 141 e. Wire fiber 141 c, 141 d, 141 e configurations are not limited to those depicted. Depending on the shape of the object to be retrieved, different wire fiber 141 c, 141 d, 141 e configurations may result in a better retrieval success rate of smaller stones (not shown), calculi (not shown), or other objects (not shown).

FIGS. 15-17 depict different views of another embodiment of the device. FIG. 15 is a side-view of a retrieval device 150 having a proximal portion 150 a and a distal portion 150 b. FIG. 16 is a partial cross-sectional view of retrieval device 150. FIG. 17 is an exploded view of articulator 162.

Body 157, and the components housed therein including an articulator 162 and a slide assembly 161 depicted in FIGS. 16-17, can be made from many materials, including but not limited to, rigid nylon, stainless steel, acrylonitrile-butadiene-styrene (ABS) and other medically acceptable polymers and metals. Body 157 is preferably a snap-fit housing consisting of two pieces that house that components depicted in FIGS. 16-17.

Distal portion of grasping wires come together to form a basket (not shown). Each of grasping wires 151 a and 151 b is disposed through optional sheath 105 and is connected to a wire pivot 153 a, 153 b respectively. Wire pivots 153 a, 153 b each have a male thread 155 a, 155 b, respectively, that engages with female thread 156 a, 156 b, respectively, located on articulator drum 160. Articulator drum 160 has a post 159 disposed therethrough. Articulator drum 160 is rotatably attached to slide assembly 161 which is slideably attached to body 157 and is held in place by each of anchors 158 a, 158 b that are fixedly attached to post 159 and rotatably attached to body 157. Tilting lever 154 from side to side causes post 159 and articulator drum 160 to rotate in the direction that lever 154 is pushed. Rotation of the drum 160 is not limited to use of lever 154; the device can also be driven by a gear set, a wheel, or any device capable of causing rotation. As articulator drum 160 is rotated, wire pivots 153 a, 153 b move opposite each other in the proximal 150 a or distal 150 b direction causing each of wires 151 a, 151 b to move in the direction that wire pivots 153 a, 153 b move; accordingly, this movement causes the basket to articulate from side to side. Pulling slide 152 in the proximal direction 150 a causes the basket to retract because articulator drum 160 and its component wire pivots 153 a, 153 b and grasping wires 151 a, 151 b are moved in the proximal direction. Pushing slide 152 in the distal direction 150 b causes the basket to extend because articulator drum 160 and its component wire pivots 153 a, 153 b and grasping wires 151 a, 151 b are moved in the distal direction. In addition, the basket can be articulated by tilting lever 154 with finger F1 and simultaneously retracted or extended by moving slide 152 in the proximal 150 a or distal 150 b direction with thumb T. The embodiments described are not limited to the specific component parts herein named. For example the articulating components could be made from a series of gears and/or wheels that are configured to articulate a basket. Additionally, not all component parts are necessary, nor is it required that the component parts be assembled in an identical fashion. For example, the locations of lever 154 and slide 152 are not limited to that which is shown; both may be placed in alternate locations including the side of the retrieval device as depicted in FIG. 18, retrieval device 170. Additionally, wire pivots 153 a, 153 b may be configured so as to move along the same female thread 156 a, as depicted in FIG. 18.

To use a retrieval device having an articulating basket for removing an object from a patient that is configured for simultaneous basket extension or basket retraction, the basket is inserted into the patient and is moved near an item to be removed from a patient, i.e. a calculus, stone, etc. The basket is extended out to the object to be removed. The object to be removed is captured by simultaneously articulating the basket while extending or retracting the basket until the object is captured. The basket is then retracted and the device and object are removed from the patient.

As is evident, the embodiments provide a very effective solution for removal of stones, calculi, or other objects from a patient by a device that allows for simultaneous basket articulation and extension, and also provides for simultaneous basket articulation and retraction.

The foregoing description and drawings are provided for illustrative purposes only and are not intended to limit the scope of the invention described herein or with regard to the details of its construction and manner of operation. It will be evident to one skilled in the art that modifications and variations may be made without departing from the spirit and scope of the invention. Changes in form and in the proportion of parts, as well as the substitution of equivalence, are contemplated as circumstances may suggest and render expedience; although specific terms have been employed, they are intended in a generic and descriptive sense only and not for the purpose of limiting the scope of the invention set forth in the following claims. 

1-23. (canceled)
 24. A medical device, the device comprising: a body; an articulator movably connected to the body; at least a first and a second wire having distal ends; the first and second wire in communication with the articulator; a tool disposed at the distal end of the first and second wire, wherein the articulator is capable of moving the tool outside the longitudinal plane; and wherein the tool is capable of being extended and retracted in a longitudinal plane simultaneously with movement outside the longitudinal plane.
 25. The device according to claim 24 wherein the tool is a basket, a grasping device, or a sampling device.
 26. The device according to claim 24 wherein the articulator further comprises two finger grooves or two finger-holes.
 27. The device according to claim 24 wherein the articulator is movably connected to the body via a pivot pin.
 28. The device according to claim 24 wherein the articulator further comprises at least a first and a second pivot pin, wherein at least one wire is in communication with the first pivot pin or the second pivot pin.
 29. The device according to claim 24 wherein the articulator further comprises at least a first and a second pivot pin, wherein the first wire and the second wire are in communication with the first pivot pin and the second pivot pin.
 30. The device according to claim 24 wherein the articulator further comprises a first pivot pin, a second pivot pint, and a third pivot pin; wherein the first wire is connected to the first pivot pin and the second pivot pin, and the second wire is connected to the third pivot pin.
 31. The device according to claim 24 further comprising a wire connection point; wherein the distal ends of the first wire and the second wire are connected via a soldered point, a loop, or a connection disk.
 32. The device according to claim 24 wherein the body further comprises an axis where along the articulator can move in a proximal and a distal direction.
 33. The device according to claim 24 wherein the first and second wires further comprise wire fibers and the wire fibers are in a net-configuration.
 34. A method for retrieving an object, the method comprising: inserting a device for removing an object into a patient; extending a tool of the device out to the object; articulating the tool to encapsulate the object; and retracting the tool to retrieve the object, wherein the extending and the articulating are capable of being performed simultaneously or the articulating and the retracting are capable of being performed simultaneously.
 35. The method according to claim 34, wherein the tool is a basket, a grasping device, or a sampling device.
 36. The method according to claim 34, wherein the tool is articulated by an articulator moveably connected to the device.
 37. The method according to claim 36, wherein the articulator further comprises two finger grooves or two finger-holes.
 38. The method according to claim 36 wherein the articulator is movably connected to the body via a pivot pin.
 39. The method according to claim 36 wherein the articulator further comprises at least a first and a second pivot pin, wherein at least one wire is in communication with the first pivot pin or the second pivot pin.
 40. The method according to claim 36 wherein the articulator further comprises at least a first and a second pivot pin, wherein the first wire and the second wire are in communication with the first pivot pin and the second pivot pin.
 41. The method according to claim 36 wherein the articulator further comprises a first pivot pin, a second pivot pint, and a third pivot pin; wherein the first wire is connected to the first pivot pin and the second pivot pin, and the second wire is connected to the third pivot pin.
 42. A medical device, the device comprising: a body; an articulator movably connected to the body, the articulator comprising at least a first and a second pivot pin, wherein the first wire and the second wire are in communication with the first pivot pin and the second pivot pin; at least a first and a second wire having distal ends; the first and second wire in communication with the articulator; a sheath at least partially disposed about the first and second wire; a tool disposed at the distal end of the first and second wire, wherein the articulator is capable of moving the tool outside the longitudinal plane; and wherein the tool is capable of being extended and retracted in a longitudinal plane simultaneously with movement outside the longitudinal plane.
 43. The device according to claim 42 further comprising a wire connection point; wherein the distal ends of the first wire and the second wire are connected via a soldered point, a loop, or a connection disk. 